Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49

From 51.26 to 51.27 From 51.35 to 51.36

From version 51.27

edited by Stone Wu
on 2022/07/07 10:48

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To version 51.35

edited by Stone Wu
on 2022/07/07 11:12

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@@ -1794,7 +1794,7 @@
  The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
--
++(% style="text-align:center" %)
  [[image:image-20220608153646-7.png||height="213" width="408"]]
  Figure 6-40 Analog input circuit
@@ -1801,7 +1801,7 @@
  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
--
++(% style="text-align:center" %)
  [[image:image-20220608172502-36.png]]
  Figure 6-41 Analog voltage torque instruction setting steps
@@ -1808,18 +1808,15 @@
  Explanation of related terms:
--Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
++* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
--
--Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--
--
++(% style="text-align:center" %)
  [[image:image-20220608172611-37.png]]
  Figure 6-42 AI_1 diagram before and after bias
--
  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
  |P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
@@ -1834,7 +1834,6 @@
  In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1850,7 +1850,7 @@
  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
--
++(% style="text-align:center" %)
  [[image:image-20220608172646-38.png]]
  Figure 6-43 Torque instruction-first-order filtering diagram
@@ -1861,7 +1861,7 @@
  At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
--
++(% style="text-align:center" %)
  [[image:image-20220608172806-39.png]]
  Figure 6-44 Torque instruction limit diagram
@@ -1870,7 +1870,6 @@
  You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1894,7 +1894,6 @@
  Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1925,7 +1925,6 @@
  When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
--
  |**DO function code**|**Function name**|**Function**
  |139|(((
  T-LIMIT in torque limit
@@ -1990,7 +1990,7 @@
  The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
--
++(% style="text-align:center" %)
  [[image:image-20220608173541-42.png]]
  Figure 6-47 Torque arrival output diagram
@@ -1997,7 +1997,6 @@
  To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -2042,15 +2042,14 @@
  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
--Position mode  Speed mode
++Position mode⇔ Speed mode
--Position mode  Torque mode
++Position mode ⇔Torque mode
--Speed mode  Torque mode
++Speed mode ⇔Torque mode
  Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -2078,7 +2078,6 @@
  Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
--
  |**DI function code**|**Name**|**Function name**|**Function**
  |17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
@@ -2114,7 +2114,7 @@
  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
--
++(% style="text-align:center" %)
  [[image:image-20220608173618-43.png]]
  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
@@ -2123,7 +2123,6 @@
  The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
--
  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
  |C1 (multi-turn magnetic encoder)|17|0 to 131071
  |D2 (multi-turn Optical encoder)|23|0 to 8388607
@@ -2132,41 +2132,73 @@
  The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
--
++(% style="text-align:center" %)
  [[image:image-20220608173701-44.png]]
  Figure 6-49 The relationship between encoder feedback position and rotating load position
--== **Encoder feedback data** ==
++== **Related functions and parameters** ==
++**Encoder feedback data**
++
  The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
--
--|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
++|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
  |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
--Table 6-55 Encoder feedback data
++Table 6-55 Encoder feedback data
--== **Absolute value system encoder battery box use precautions** ==
++**Shield multi-turn absolute encoder battery fault**
--Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
++The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
++|**Function code**|**Name**|(((
++**Setting**
--[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]
++**method**
++)))|(((
++**Effective**
--Figure 6-50 the encoder battery box
++**time**
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
++0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
--When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:
++1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
++)))|-
--1. Step1 The servo drive is powered on and is in a non-operational state;
--1. Step2 Replace the battery;
--1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
++This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
--When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
++**✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
++== **Absolute value system encoder battery box use precautions**. ==
++**Cautions**
++
++Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
++
++(% style="text-align:center" %)
++[[image:image-20220707111333-28.png]]
++
++Figure 6-50 the encoder battery box
++
++When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time.
++
++**Replace the battery**
++
++Please replace the battery while keeping the servo drive and motor well connected and the power on.
++
++The specific replacement method is as follows:
++
++* Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
++* Step2 Remove the old battery.
++* Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
++* Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
++
++When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
++
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((

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